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<div class="title">brisk_2d.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception , Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (C) 2011  The Autonomous Systems Lab (ASL), ETH Zurich,</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *                      Stefan Leutenegger, Simon Lynen and Margarita Chli.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
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<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_FEATURES_BRISK_2D_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_FEATURES_BRISK_2D_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment">// PCL includes</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/common/eigen.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="centroid_8h.html">pcl/common/centroid.h</a>&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/common/intensity.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> PointInT, </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;            <span class="keyword">typename</span> PointOutT  = <a class="code" href="structpcl_1_1_b_r_i_s_k_signature512.html">pcl::BRISKSignature512</a>, </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;            <span class="keyword">typename</span> KeypointT  = <a class="code" href="structpcl_1_1_point_with_scale.html">pcl::PointWithScale</a>,</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;            <span class="keyword">typename</span> IntensityT = <a class="code" href="structpcl_1_1common_1_1_intensity_field_accessor.html">pcl::common::IntensityFieldAccessor&lt;PointInT&gt;</a> &gt;</div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html">   68</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html">BRISK2DEstimation</a><span class="comment">// : public Feature&lt;PointT, KeyPointT&gt;</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  {</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;BRISK2DEstimation&lt;PointInT, PointOutT, KeypointT, IntensityT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const BRISK2DEstimation&lt;PointInT, PointOutT, KeypointT, IntensityT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudInT</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::ConstPtr PointCloudInTConstPtr;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;KeypointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">KeypointPointCloudT</a>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;KeypointT&gt;::Ptr KeypointPointCloudTPtr;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;KeypointT&gt;::ConstPtr KeypointPointCloudTConstPtr;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOutT</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a2b09cb9c9905d554e0485e02cd3bae67">BRISK2DEstimation</a> ();</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a65f054587480bd8171e2a5e48ec4bd15">~BRISK2DEstimation</a> ();</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a1c71657903ba18f6a215293bde39b4aa">   93</a></span>&#160;      <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a1c71657903ba18f6a215293bde39b4aa">setRotationInvariance</a> (<span class="keyword">const</span> <span class="keywordtype">bool</span> enable)</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a6fd6ae676d3308276bf9cc08ee9eec76">rotation_invariance_enabled_</a> = enable;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a34e1ab259174e7b90acc99f3afa47fbf">  102</a></span>&#160;      <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a34e1ab259174e7b90acc99f3afa47fbf">setScaleInvariance</a> (<span class="keyword">const</span> <span class="keywordtype">bool</span> enable)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      {</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#abd836e9a29af11a5fbbacf04ad0d887d">scale_invariance_enabled_</a> = enable;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      }</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a3b877ad7c832b6970e859cac1112a93c">  111</a></span>&#160;      <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a3b877ad7c832b6970e859cac1112a93c">setInputCloud</a> (<span class="keyword">const</span> PointCloudInTConstPtr &amp; cloud)</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      {</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a2179fd4e48ca2adedf9f0b52dc735aa7">input_cloud_</a> = cloud;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      }</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#aada03d4a0a68d27e72c61ebe14f3cbbb">  120</a></span>&#160;      <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#aada03d4a0a68d27e72c61ebe14f3cbbb">setKeypoints</a> (<span class="keyword">const</span> KeypointPointCloudTPtr &amp;keypoints)</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      {</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <span class="comment">// Make a copy as we will have to erase keypoints that we don&#39;t use</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        <span class="comment">// TO DO: change this later</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="comment">//keypoints_.reset (new KeypointPointCloudT (*keypoints));</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a0c6e81334f120ec8e854d90ef8713614">keypoints_</a> = keypoints;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a8c49accdbf2a6abe5ebb7c4b4c1ffbce">compute</a> (PointCloudOutT &amp;output);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <span class="comment">//td::vector&lt;pcl::features::brisk::BRISKDescriptor&gt; &amp; descriptors) const;</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a83f156da9cf9303dd24c4d4979b2fcc3">generateKernel</a> (std::vector&lt;float&gt; &amp;radius_list,</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                      std::vector&lt;int&gt; &amp;number_list, </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;                      <span class="keywordtype">float</span> d_max = 5.85f, <span class="keywordtype">float</span> d_min = 8.2f,</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;                      std::vector&lt;int&gt; index_change = std::vector&lt;int&gt; ());</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#aea20d5cbb783493f6e384ac07c360db2">smoothedIntensity</a> (<span class="keyword">const</span> std::vector&lt;unsigned char&gt;&amp; image,</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;                         <span class="keywordtype">int</span> image_width, <span class="keywordtype">int</span> image_height,</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;                                 <span class="keyword">const</span> std::vector&lt;int&gt;&amp; integral_image,</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;                         <span class="keyword">const</span> <span class="keywordtype">float</span> key_x, <span class="keyword">const</span> <span class="keywordtype">float</span> key_y, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> scale,</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                         <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rot, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> point) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#adb1eafff91823d59302a9a65fcdd9ddb">RoiPredicate</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> min_x, <span class="keyword">const</span> <span class="keywordtype">float</span> min_y, </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                    <span class="keyword">const</span> <span class="keywordtype">float</span> max_x, <span class="keyword">const</span> <span class="keywordtype">float</span> max_y, <span class="keyword">const</span> KeypointT&amp; key_pt);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a6fd6ae676d3308276bf9cc08ee9eec76">  166</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a6fd6ae676d3308276bf9cc08ee9eec76">rotation_invariance_enabled_</a>;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      </div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#abd836e9a29af11a5fbbacf04ad0d887d">  169</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#abd836e9a29af11a5fbbacf04ad0d887d">scale_invariance_enabled_</a>;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a11233a1b7bb23bb63e646c45c7739c24">  172</a></span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a11233a1b7bb23bb63e646c45c7739c24">pattern_scale_</a>;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  </div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a2179fd4e48ca2adedf9f0b52dc735aa7">  175</a></span>&#160;      PointCloudInTConstPtr <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a2179fd4e48ca2adedf9f0b52dc735aa7">input_cloud_</a>;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a0c6e81334f120ec8e854d90ef8713614">  178</a></span>&#160;      KeypointPointCloudTPtr <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a0c6e81334f120ec8e854d90ef8713614">keypoints_</a>;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <span class="comment">// TODO: set</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="keywordtype">float</span> scale_range_;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <span class="comment">// Some helper structures for the Brisk pattern representation</span></div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_pattern_point.html">  184</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_pattern_point.html">BriskPatternPoint</a></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      {</div>
<div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_pattern_point.html#a944f60df4e625fb65cf0157bdf36f3d3">  187</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_pattern_point.html#a944f60df4e625fb65cf0157bdf36f3d3">x</a>;         </div>
<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_pattern_point.html#a05b9c6500c5b70b2615d28324f0180f6">  189</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_pattern_point.html#a05b9c6500c5b70b2615d28324f0180f6">y</a>;</div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_pattern_point.html#a802ac3c25406f039d090f7aa85a0c650">  191</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_pattern_point.html#a802ac3c25406f039d090f7aa85a0c650">sigma</a>;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      };</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_short_pair.html">  194</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_short_pair.html">BriskShortPair</a></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      {</div>
<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_short_pair.html#a3d8894079d1336c002985d80e434771a">  197</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_short_pair.html#a3d8894079d1336c002985d80e434771a">i</a>;</div>
<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_short_pair.html#aaa1d57fc08321d391427bbea93e9eab7">  199</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_short_pair.html#aaa1d57fc08321d391427bbea93e9eab7">j</a>;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      };</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno"><a class="line" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_long_pair.html">  202</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_long_pair.html">BriskLongPair</a></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      {</div>
<div class="line"><a name="l00205"></a><span class="lineno"><a class="line" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_long_pair.html#a86162bcb1168f816e767601ac9e5dae7">  205</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_long_pair.html#a86162bcb1168f816e767601ac9e5dae7">i</a>;</div>
<div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_long_pair.html#a279656e1962728db8c1dbce27f535e3e">  207</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_long_pair.html#a279656e1962728db8c1dbce27f535e3e">j</a>;</div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_long_pair.html#a2265f10875693bffd1d1e225f44fa51e">  209</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_long_pair.html#a2265f10875693bffd1d1e225f44fa51e">weighted_dx</a>;</div>
<div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_long_pair.html#a3444c603dc3cdc560f46d24235a01f87">  211</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_long_pair.html#a3444c603dc3cdc560f46d24235a01f87">weighted_dy</a>;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      };</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      <span class="comment">// pattern properties</span></div>
<div class="line"><a name="l00216"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a691b5e97a6e92c00c375796af243b546">  216</a></span>&#160;<span class="comment"></span>      <a class="code" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_pattern_point.html">BriskPatternPoint</a>* <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a691b5e97a6e92c00c375796af243b546">pattern_points_</a>;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      </div>
<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a994fbc89f0d94b09145f6b5aec20e9e1">  219</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a994fbc89f0d94b09145f6b5aec20e9e1">points_</a>;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      </div>
<div class="line"><a name="l00222"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a6367c51b2499bf8652c6e41237acaf4a">  222</a></span>&#160;          <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a6367c51b2499bf8652c6e41237acaf4a">n_rot_</a>;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      </div>
<div class="line"><a name="l00225"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#afc3d6cb72cb26a0ccf48f847e7f39c36">  225</a></span>&#160;      <span class="keywordtype">float</span>* <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#afc3d6cb72cb26a0ccf48f847e7f39c36">scale_list_</a>;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      </div>
<div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a9643341b4fc0337a9708e0197a37997e">  228</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>* <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a9643341b4fc0337a9708e0197a37997e">size_list_</a>;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      </div>
<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#ae45f15f83ef50658f00f124c6c101705">  231</a></span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#ae45f15f83ef50658f00f124c6c101705">scales_</a>;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      </div>
<div class="line"><a name="l00234"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a4418e88ac09cb78a6279947dfc4eed66">  234</a></span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a4418e88ac09cb78a6279947dfc4eed66">scalerange_</a>;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      <span class="comment">// general</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> basic_size_;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      <span class="comment">// pairs</span></div>
<div class="line"><a name="l00241"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a948eae98b6e4015c86a8dbcb0731a371">  241</a></span>&#160;<span class="comment"></span>      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a948eae98b6e4015c86a8dbcb0731a371">strings_</a>;</div>
<div class="line"><a name="l00243"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#af0f5f88bb3c48cb92d655d96e7c54f99">  243</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#af0f5f88bb3c48cb92d655d96e7c54f99">d_max_</a>;</div>
<div class="line"><a name="l00245"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a509e135d8e76dd165567aa58de7a559d">  245</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a509e135d8e76dd165567aa58de7a559d">d_min_</a>;</div>
<div class="line"><a name="l00247"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a7823e5c7e1f223836b9036c5bc6e4207">  247</a></span>&#160;      <a class="code" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_short_pair.html">BriskShortPair</a>* <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a7823e5c7e1f223836b9036c5bc6e4207">short_pairs_</a>;</div>
<div class="line"><a name="l00249"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#acf405e03f623b5f46ff5efb83b43d24c">  249</a></span>&#160;      <a class="code" href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_long_pair.html">BriskLongPair</a>* <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#acf405e03f623b5f46ff5efb83b43d24c">long_pairs_</a>;</div>
<div class="line"><a name="l00251"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a41ea3aff6870535e0de27d2533eaac7e">  251</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a41ea3aff6870535e0de27d2533eaac7e">no_short_pairs_</a>;</div>
<div class="line"><a name="l00253"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a7cdb30b173b42f96ea413a7cf54d86cd">  253</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a7cdb30b173b42f96ea413a7cf54d86cd">no_long_pairs_</a>;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#ae6840523e91ac285afb4f1ce8831888b">  256</a></span>&#160;      IntensityT <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#ae6840523e91ac285afb4f1ce8831888b">intensity_</a>;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#aa9fa16c5a6e313d305dcf7e5904ea776">  259</a></span>&#160;      std::string <a class="code" href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#aa9fa16c5a6e313d305dcf7e5904ea776">name_</a>;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  };</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;}</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/brisk_2d.hpp&gt;</span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_FEATURES_BRISK_2D_H_</span></div>
<div class="ttc" id="acentroid_8h_html"><div class="ttname"><a href="centroid_8h.html">centroid.h</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html">pcl::BRISK2DEstimation</a></div><div class="ttdoc">Implementation of the BRISK-descriptor, based on the original code and paper reference by</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_a0c6e81334f120ec8e854d90ef8713614"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a0c6e81334f120ec8e854d90ef8713614">pcl::BRISK2DEstimation::keypoints_</a></div><div class="ttdeci">KeypointPointCloudTPtr keypoints_</div><div class="ttdoc">the input keypoints.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:178</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_a11233a1b7bb23bb63e646c45c7739c24"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a11233a1b7bb23bb63e646c45c7739c24">pcl::BRISK2DEstimation::pattern_scale_</a></div><div class="ttdeci">const float pattern_scale_</div><div class="ttdoc">Specifies the scale of the pattern.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:172</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_a1c71657903ba18f6a215293bde39b4aa"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a1c71657903ba18f6a215293bde39b4aa">pcl::BRISK2DEstimation::setRotationInvariance</a></div><div class="ttdeci">void setRotationInvariance(const bool enable)</div><div class="ttdoc">Determines whether rotation invariance is enabled.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:93</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_a2179fd4e48ca2adedf9f0b52dc735aa7"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a2179fd4e48ca2adedf9f0b52dc735aa7">pcl::BRISK2DEstimation::input_cloud_</a></div><div class="ttdeci">PointCloudInTConstPtr input_cloud_</div><div class="ttdoc">the input cloud.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:175</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_a2b09cb9c9905d554e0485e02cd3bae67"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a2b09cb9c9905d554e0485e02cd3bae67">pcl::BRISK2DEstimation::BRISK2DEstimation</a></div><div class="ttdeci">BRISK2DEstimation()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> brisk_2d.hpp:45</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_a34e1ab259174e7b90acc99f3afa47fbf"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a34e1ab259174e7b90acc99f3afa47fbf">pcl::BRISK2DEstimation::setScaleInvariance</a></div><div class="ttdeci">void setScaleInvariance(const bool enable)</div><div class="ttdoc">Determines whether scale invariance is enabled.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:102</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_a3b877ad7c832b6970e859cac1112a93c"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a3b877ad7c832b6970e859cac1112a93c">pcl::BRISK2DEstimation::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudInTConstPtr &amp;cloud)</div><div class="ttdoc">Sets the input cloud.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:111</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_a41ea3aff6870535e0de27d2533eaac7e"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a41ea3aff6870535e0de27d2533eaac7e">pcl::BRISK2DEstimation::no_short_pairs_</a></div><div class="ttdeci">unsigned int no_short_pairs_</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:251</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_a4418e88ac09cb78a6279947dfc4eed66"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a4418e88ac09cb78a6279947dfc4eed66">pcl::BRISK2DEstimation::scalerange_</a></div><div class="ttdeci">const float scalerange_</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:234</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_a509e135d8e76dd165567aa58de7a559d"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a509e135d8e76dd165567aa58de7a559d">pcl::BRISK2DEstimation::d_min_</a></div><div class="ttdeci">float d_min_</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:245</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_a6367c51b2499bf8652c6e41237acaf4a"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a6367c51b2499bf8652c6e41237acaf4a">pcl::BRISK2DEstimation::n_rot_</a></div><div class="ttdeci">const unsigned int n_rot_</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_a65f054587480bd8171e2a5e48ec4bd15"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a65f054587480bd8171e2a5e48ec4bd15">pcl::BRISK2DEstimation::~BRISK2DEstimation</a></div><div class="ttdeci">virtual ~BRISK2DEstimation()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> brisk_2d.hpp:86</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_a691b5e97a6e92c00c375796af243b546"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a691b5e97a6e92c00c375796af243b546">pcl::BRISK2DEstimation::pattern_points_</a></div><div class="ttdeci">BriskPatternPoint * pattern_points_</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:216</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_a6fd6ae676d3308276bf9cc08ee9eec76"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a6fd6ae676d3308276bf9cc08ee9eec76">pcl::BRISK2DEstimation::rotation_invariance_enabled_</a></div><div class="ttdeci">bool rotation_invariance_enabled_</div><div class="ttdoc">Specifies whether rotation invariance is enabled.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_a7823e5c7e1f223836b9036c5bc6e4207"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a7823e5c7e1f223836b9036c5bc6e4207">pcl::BRISK2DEstimation::short_pairs_</a></div><div class="ttdeci">BriskShortPair * short_pairs_</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:247</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_a7cdb30b173b42f96ea413a7cf54d86cd"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a7cdb30b173b42f96ea413a7cf54d86cd">pcl::BRISK2DEstimation::no_long_pairs_</a></div><div class="ttdeci">unsigned int no_long_pairs_</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:253</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_a83f156da9cf9303dd24c4d4979b2fcc3"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a83f156da9cf9303dd24c4d4979b2fcc3">pcl::BRISK2DEstimation::generateKernel</a></div><div class="ttdeci">void generateKernel(std::vector&lt; float &gt; &amp;radius_list, std::vector&lt; int &gt; &amp;number_list, float d_max=5.85f, float d_min=8.2f, std::vector&lt; int &gt; index_change=std::vector&lt; int &gt;())</div><div class="ttdoc">Call this to generate the kernel: circle of radius r (pixels), with n points; short pairings with dMa...</div><div class="ttdef"><b>Definition:</b> brisk_2d.hpp:97</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_a8c49accdbf2a6abe5ebb7c4b4c1ffbce"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a8c49accdbf2a6abe5ebb7c4b4c1ffbce">pcl::BRISK2DEstimation::compute</a></div><div class="ttdeci">void compute(PointCloudOutT &amp;output)</div><div class="ttdoc">Computes the descriptors for the previously specified points and input data.</div><div class="ttdef"><b>Definition:</b> brisk_2d.hpp:447</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_a948eae98b6e4015c86a8dbcb0731a371"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a948eae98b6e4015c86a8dbcb0731a371">pcl::BRISK2DEstimation::strings_</a></div><div class="ttdeci">int strings_</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:241</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_a9643341b4fc0337a9708e0197a37997e"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a9643341b4fc0337a9708e0197a37997e">pcl::BRISK2DEstimation::size_list_</a></div><div class="ttdeci">unsigned int * size_list_</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:228</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_a994fbc89f0d94b09145f6b5aec20e9e1"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#a994fbc89f0d94b09145f6b5aec20e9e1">pcl::BRISK2DEstimation::points_</a></div><div class="ttdeci">unsigned int points_</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:219</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_aa9fa16c5a6e313d305dcf7e5904ea776"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#aa9fa16c5a6e313d305dcf7e5904ea776">pcl::BRISK2DEstimation::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdoc">The name of the class.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:259</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_aada03d4a0a68d27e72c61ebe14f3cbbb"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#aada03d4a0a68d27e72c61ebe14f3cbbb">pcl::BRISK2DEstimation::setKeypoints</a></div><div class="ttdeci">void setKeypoints(const KeypointPointCloudTPtr &amp;keypoints)</div><div class="ttdoc">Sets the input keypoints.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:120</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_abd836e9a29af11a5fbbacf04ad0d887d"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#abd836e9a29af11a5fbbacf04ad0d887d">pcl::BRISK2DEstimation::scale_invariance_enabled_</a></div><div class="ttdeci">bool scale_invariance_enabled_</div><div class="ttdoc">Specifies whether scale invariance is enabled.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:169</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_acf405e03f623b5f46ff5efb83b43d24c"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#acf405e03f623b5f46ff5efb83b43d24c">pcl::BRISK2DEstimation::long_pairs_</a></div><div class="ttdeci">BriskLongPair * long_pairs_</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:249</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_adb1eafff91823d59302a9a65fcdd9ddb"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#adb1eafff91823d59302a9a65fcdd9ddb">pcl::BRISK2DEstimation::RoiPredicate</a></div><div class="ttdeci">bool RoiPredicate(const float min_x, const float min_y, const float max_x, const float max_y, const KeypointT &amp;key_pt)</div><div class="ttdoc">ROI predicate comparator.</div><div class="ttdef"><b>Definition:</b> brisk_2d.hpp:438</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_ae45f15f83ef50658f00f124c6c101705"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#ae45f15f83ef50658f00f124c6c101705">pcl::BRISK2DEstimation::scales_</a></div><div class="ttdeci">const unsigned int scales_</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:231</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_ae6840523e91ac285afb4f1ce8831888b"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#ae6840523e91ac285afb4f1ce8831888b">pcl::BRISK2DEstimation::intensity_</a></div><div class="ttdeci">IntensityT intensity_</div><div class="ttdoc">Intensity field accessor.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:256</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_aea20d5cbb783493f6e384ac07c360db2"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#aea20d5cbb783493f6e384ac07c360db2">pcl::BRISK2DEstimation::smoothedIntensity</a></div><div class="ttdeci">int smoothedIntensity(const std::vector&lt; unsigned char &gt; &amp;image, int image_width, int image_height, const std::vector&lt; int &gt; &amp;integral_image, const float key_x, const float key_y, const unsigned int scale, const unsigned int rot, const unsigned int point) const</div><div class="ttdoc">Compute the smoothed intensity for a given x/y position in the image.</div><div class="ttdef"><b>Definition:</b> brisk_2d.hpp:219</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_af0f5f88bb3c48cb92d655d96e7c54f99"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#af0f5f88bb3c48cb92d655d96e7c54f99">pcl::BRISK2DEstimation::d_max_</a></div><div class="ttdeci">float d_max_</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:243</div></div>
<div class="ttc" id="aclasspcl_1_1_b_r_i_s_k2_d_estimation_html_afc3d6cb72cb26a0ccf48f847e7f39c36"><div class="ttname"><a href="classpcl_1_1_b_r_i_s_k2_d_estimation.html#afc3d6cb72cb26a0ccf48f847e7f39c36">pcl::BRISK2DEstimation::scale_list_</a></div><div class="ttdeci">float * scale_list_</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:225</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="astructpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_long_pair_html"><div class="ttname"><a href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_long_pair.html">pcl::BRISK2DEstimation::BriskLongPair</a></div><div class="ttdef"><b>Definition:</b> brisk_2d.h:203</div></div>
<div class="ttc" id="astructpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_long_pair_html_a2265f10875693bffd1d1e225f44fa51e"><div class="ttname"><a href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_long_pair.html#a2265f10875693bffd1d1e225f44fa51e">pcl::BRISK2DEstimation::BriskLongPair::weighted_dx</a></div><div class="ttdeci">int weighted_dx</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:209</div></div>
<div class="ttc" id="astructpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_long_pair_html_a279656e1962728db8c1dbce27f535e3e"><div class="ttname"><a href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_long_pair.html#a279656e1962728db8c1dbce27f535e3e">pcl::BRISK2DEstimation::BriskLongPair::j</a></div><div class="ttdeci">unsigned int j</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:207</div></div>
<div class="ttc" id="astructpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_long_pair_html_a3444c603dc3cdc560f46d24235a01f87"><div class="ttname"><a href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_long_pair.html#a3444c603dc3cdc560f46d24235a01f87">pcl::BRISK2DEstimation::BriskLongPair::weighted_dy</a></div><div class="ttdeci">int weighted_dy</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:211</div></div>
<div class="ttc" id="astructpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_long_pair_html_a86162bcb1168f816e767601ac9e5dae7"><div class="ttname"><a href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_long_pair.html#a86162bcb1168f816e767601ac9e5dae7">pcl::BRISK2DEstimation::BriskLongPair::i</a></div><div class="ttdeci">unsigned int i</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:205</div></div>
<div class="ttc" id="astructpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_pattern_point_html"><div class="ttname"><a href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_pattern_point.html">pcl::BRISK2DEstimation::BriskPatternPoint</a></div><div class="ttdef"><b>Definition:</b> brisk_2d.h:185</div></div>
<div class="ttc" id="astructpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_pattern_point_html_a05b9c6500c5b70b2615d28324f0180f6"><div class="ttname"><a href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_pattern_point.html#a05b9c6500c5b70b2615d28324f0180f6">pcl::BRISK2DEstimation::BriskPatternPoint::y</a></div><div class="ttdeci">float y</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:189</div></div>
<div class="ttc" id="astructpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_pattern_point_html_a802ac3c25406f039d090f7aa85a0c650"><div class="ttname"><a href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_pattern_point.html#a802ac3c25406f039d090f7aa85a0c650">pcl::BRISK2DEstimation::BriskPatternPoint::sigma</a></div><div class="ttdeci">float sigma</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:191</div></div>
<div class="ttc" id="astructpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_pattern_point_html_a944f60df4e625fb65cf0157bdf36f3d3"><div class="ttname"><a href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_pattern_point.html#a944f60df4e625fb65cf0157bdf36f3d3">pcl::BRISK2DEstimation::BriskPatternPoint::x</a></div><div class="ttdeci">float x</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:187</div></div>
<div class="ttc" id="astructpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_short_pair_html"><div class="ttname"><a href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_short_pair.html">pcl::BRISK2DEstimation::BriskShortPair</a></div><div class="ttdef"><b>Definition:</b> brisk_2d.h:195</div></div>
<div class="ttc" id="astructpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_short_pair_html_a3d8894079d1336c002985d80e434771a"><div class="ttname"><a href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_short_pair.html#a3d8894079d1336c002985d80e434771a">pcl::BRISK2DEstimation::BriskShortPair::i</a></div><div class="ttdeci">unsigned int i</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:197</div></div>
<div class="ttc" id="astructpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_short_pair_html_aaa1d57fc08321d391427bbea93e9eab7"><div class="ttname"><a href="structpcl_1_1_b_r_i_s_k2_d_estimation_1_1_brisk_short_pair.html#aaa1d57fc08321d391427bbea93e9eab7">pcl::BRISK2DEstimation::BriskShortPair::j</a></div><div class="ttdeci">unsigned int j</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:199</div></div>
<div class="ttc" id="astructpcl_1_1_b_r_i_s_k_signature512_html"><div class="ttname"><a href="structpcl_1_1_b_r_i_s_k_signature512.html">pcl::BRISKSignature512</a></div><div class="ttdoc">A point structure representing the Binary Robust Invariant Scalable Keypoints (BRISK).</div><div class="ttdef"><b>Definition:</b> point_types.hpp:1390</div></div>
<div class="ttc" id="astructpcl_1_1_point_with_scale_html"><div class="ttname"><a href="structpcl_1_1_point_with_scale.html">pcl::PointWithScale</a></div><div class="ttdoc">A point structure representing a 3-D position and scale.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:1506</div></div>
<div class="ttc" id="astructpcl_1_1common_1_1_intensity_field_accessor_html"><div class="ttname"><a href="structpcl_1_1common_1_1_intensity_field_accessor.html">pcl::common::IntensityFieldAccessor&lt; PointInT &gt;</a></div></div>
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